Universiti Teknologi Malaysia Institutional Repository

Nonholonomic mobile robot with adaptive active force control strategy

Mailah, Musa and Purnomo, Didik Setyo (2006) Nonholonomic mobile robot with adaptive active force control strategy. In: Advances in Mechanical Engineering 2006 Part I. UTM, Johor , 67 - 82. ISBN 978-983-52-0544-6

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Abstract

Mobile robot is one of the well known systems that deals with nonholonomic constraints. There is a number of research works on nonholonomic mobile robot particularly related to accurate tracking control (Kanayama et al., 1990). Over the past two decades, wheeled mobile robot has become increasingly important and has find many useful applications as utility vehicle and materials transporter in large buildings (shopping centre, hospital and warehouse), nuclear waste facility, security and defence industry, transportation sector, inspection process, planetary exploration and host of others (Dixon et al., 2000). Recently, a novel method has been proposed to improve the kinematic model of the system and is in fact mostly used by many researchers in their study (Fiero and Lewis, 1998). Generally, mobile robot navigation can be classified into three basic problems; tracking a reference trajectory, path following and point stabilization. In this paper, the focus is more on the robust and stable tracking performance of a mobile robot system in conjunction with a force control strategy known as active force control (AFC). The significant advantage of AFC over the conventional control method such as the proportional-integralderivative (PID) control, lies in its extreme robustness characteristic. AFC applied to dynamical systems has been shown to be very robust and stable even when the systems were subject to various kinds of disturbances, uncertainties and changes in the parameters. The chapter is organised as follows: first, an introduction to the AFC strategy was given followed by a description of the kinematic and dynamic models of the mobile robot system. The application of adaptive AFC to a two-wheeled mobile robot was then highlighted. Consequently, a simulation study pertaining to the reference trajectory tracking control problem was conducted and the results obtained were relevantly discussed. Two types of adaptive control methods (with and without AFC) were studied for the purpose of benchmarking.

Item Type:Book Section
Subjects:T Technology > TJ Mechanical engineering and machinery
Divisions:Mechanical Engineering
ID Code:25693
Deposited By: Liza Porijo
Deposited On:25 May 2012 04:04
Last Modified:03 Jun 2014 06:35

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